Robot Controller Force Visualization on Workpiece
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Solution Overview
Problem
Existing robot control systems fail to intuitively display the direction and magnitude of force applied to a workpiece during operations like polishing, making it difficult to understand where the force is maximum or minimum.
Innovation Solution
A robot controller that uses a force detecting part to monitor the force applied between a work tool and a workpiece, and a displaying part to visualize this force as line segments or vectors on a coordinate system, changing color or blinking based on force magnitude, allowing operators to see the force trajectory and distribution on the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force information is displayed on a graph with elapsed time or axis positions, then the magnitude of force can be monitored, but it is difficult to intuitively understand the direction or magnitude of the force actually applied to an arbitrary portion of the workpiece
Solution Approach 1:
The patent creates a visual copy of the workpiece surface geometry and maps force vectors directly onto this copied representation. The displaying part generates a simulated image of the workpiece surface and superimposes force line segments onto corresponding locations, allowing operators to see force information in the context of the actual workpiece geometry rather than abstract coordinate systems
Solution Approach 2:
The patent transitions from displaying force information in a one-dimensional graph format (force vs. time or position) to a two-dimensional visual representation where force vectors are mapped onto the workpiece surface geometry. This adds spatial context by displaying force magnitude and direction at specific locations on the workpiece surface simultaneously
2Loss of information
If conventional force display methods are used, then force data can be recorded, but operators cannot easily identify where in the workpiece the applied force is maximum or minimum
Solution Approach 1:
The patent employs color coding to represent different force magnitudes at different locations on the workpiece surface. Line segments representing force vectors are displayed in different colors or with different visual intensities corresponding to the magnitude of force, enabling operators to quickly identify areas of maximum or minimum force application through visual inspection of the color distribution across the workpiece surface
3Manufacturing precision
If force control is carried out to keep detected force constant, then polishing quality can be maintained, but it is difficult to monitor the actual force distribution across different portions of the workpiece
Solution Approach 1:
The patent divides the workpiece surface into multiple discrete locations or segments and displays force information for each segment separately. By calculating and displaying force vectors at multiple distinct points across the workpiece surface, the system provides segmented force distribution information that reveals variations in force application across different portions of the workpiece, enabling targeted adjustments to maintain consistent polishing quality
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables operators to visually and intuitively understand the force applied during operations, identifying areas of insufficient or excessive force, thereby improving the quality of processes like polishing and burring by allowing for real-time monitoring and adjustment.
Implementation Method 1
a force detecting part which detects a force acting between a work tool and a workpiece
Data Source
AI summary
A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.